Global distributed fault-tolerant consensus control of nonlinear delayed multiagent systems with hybrid faults

This article is concerned with the distributed leader-following fault-tolerant consensus control problem of uncertain nonlinear delayed multiagent systems with hybrid faults including actuator faults and sensor faults. The faults are described as unknown time-varying functions, which can cause uncertain changes in the fault coefficients of sensors and actuators. In this case, we put forward a novel distributed consensus algorithm. First, we transform the consensus problem into the stability one of a single system by utilizing the sensor fault model and directed topology. Then, the dynamic gain is devised to compensate for uncertain parameters. Based on the backstepping control method, a distributed dynamic controller is designed via measurement data of nonideal sensors. By means of a new Lyapunov function, it is strictly proved that the designed controller can render all agents realizing the full-state consensus in the global sense. Moreover, the proposed algorithm allows that nonlinear dynamics include the state delays, and can be expanded to a fully distributed result. Finally, an example of application in chemical reactor systems is presented to confirm the effectiveness of our theoretical results.